OKMC Mar12 * SG176 * Dive index * Mission links * Dive 81 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  176 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  81 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3752 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2610 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1010 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  100 SM_CC  375 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  -15 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -15 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.30000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  360 UPLOAD_DIVES_MAX  -1 C_VBD  2929 DEVICE3  35
T_MISSION  400 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -7487.7241 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -7 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  224 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4024 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2510 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043285224
SPEED_FACTOR  1 PITCH_DBAND  0.02 PRESSURE_YINT  -70.662712 SEABIRD_T_H  0.00062606536
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001162977 SEABIRD_T_I  2.5051821e-05
MASS  51719 P_OVSHOOT  0.0099999998 AD7714Ch0Gain  128 SEABIRD_T_J  2.9112039e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134115
FERRY_MAX  45 PITCH_TIMEOUT  18 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1528351
KALMAN_USE  2 PITCH_AD_RATE  170 COMPASS_USE  4 SEABIRD_C_I  -0.0013358581
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019115997

Pre-dive calculations and measurements:
GPS1  270312,083637,2114.081,12246.577,32,0.9,32,-2.7 TGT_NAME  DOGLEG
_CALLS  1 TGT_LATLONG  2100.000,12250.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.59 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  270312,084332,2114.168,12246.474,13,1.2,13,-2.7 MHEAD_RNG_PITCHd_Wd  133.6,26939,-13.6,-9.167
SPEED_LIMITS  0.159,0.286 D_GRID  3206

Post-dive calculations and measurements:
FINISH  0.8,1.023400 _10V_AH  10.2,12.031
SM_CCo  14364,28.58,0.131,0,0,1399,375.06 FG_AHR_24Vo  0.000
SM_GC  1.25,6.28,0.15,28.58,0.031,0.077,0.131,179,2680,1399,-7.13,-0.59,375.06,0,0,0,0,0,0,26.48,26.48,26.13 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2108.69,12246.89,270312,040425 MEM  324664
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  100611,1338
HUMID  41.65 CAP_FILE_SIZE  151409,0
INTERNAL_PRESSURE  9.42694 CFSIZE  260165632,215605248
TCM_TEMP  24.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.133,290.2,1
_24V_AH  23.0,19.579 GPS  270312,124506,2112.978,12247.208,40,1.0,45,-2.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17262107.58 SBE_CT90924501.88
Roll_motor11677206.99 AA43301695331287.20
VBD_pump_during_apogee432172217134.38 WL_BB2F000.00
VBD_pump_during_surface2813085.97 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310354.53 nil000.00
Iridium_during_connect2016073.93 nil000.00
Iridium_during_xfer2332231196.56 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15508.05
TT8336719680.12
LPSleep78952176.36
TT8_Active58819118.83
TT8_Sampling2615391061.74
TT8_CF832045149.88
TT8_Kalman000.00
Analog_circuits181712222.46
GPS_charging000.00
Compass221115338.35
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.58 -194.6 0.0 0.0 0 68 0.00 0.00 -48.38 0.000 2 0.000 0.000 190 2706 2679 0 0 0 0 0 0 28.83 28.83 28.83
71 -0.58 -194.6 3.3 -5.9 8 107 8.62 2.33 -21.20 0.000 4 0.244 0.040 2319 1147 3725 0 0 0 0 0 0 25.62 26.13 26.41
232 -0.58 -194.6 43.4 -22.2 35 239 0.10 2.28 0.00 0.000 6 0.178 0.048 2333 2626 3726 0 0 0 0 0 0 26.00 26.15 28.83
543 -0.58 -194.6 136.6 -29.5 96 550 0.05 1.73 0.00 0.000 4 0.176 0.053 2280 3769 3727 0 0 0 0 0 0 26.47 26.27 28.83
573 -0.58 -194.6 146.2 -35.0 101 580 0.17 1.70 0.00 0.000 6 0.174 0.024 2331 2498 3726 0 0 0 0 0 0 26.07 26.44 28.83
888 -0.58 -194.6 225.6 -21.5 152 892 0.00 1.90 0.00 0.000 4 0.000 0.024 2331 1134 3727 0 0 0 0 0 0 28.83 26.49 28.83
917 -0.58 -194.6 231.0 -21.0 154 925 0.00 2.25 0.00 0.000 6 0.000 0.046 2321 2626 3727 0 0 0 0 0 0 28.83 26.39 28.83
1225 -0.58 -194.6 299.6 -23.0 185 1229 0.00 1.73 0.00 0.000 4 0.000 0.056 2313 3771 3727 0 0 0 0 0 0 28.83 26.42 28.83
1248 -0.58 -194.6 305.0 -23.6 187 1256 0.05 1.73 0.00 0.000 6 0.161 0.023 2330 2494 3727 0 0 0 0 0 0 26.36 26.63 28.83
1556 -0.58 -194.6 368.9 -18.7 218 1560 0.00 1.95 0.00 0.000 4 0.000 0.054 2322 3775 3727 0 0 0 0 0 0 28.83 26.45 28.83
1595 -0.58 -194.6 375.7 -18.9 221 1602 0.00 1.73 0.00 0.000 6 0.000 0.022 2321 2504 3727 0 0 0 0 0 0 28.83 26.65 28.83
1904 -0.58 -194.6 432.2 -17.5 252 1913 0.00 1.90 0.00 0.000 4 0.000 0.025 2322 1149 3727 0 0 0 0 0 0 28.83 26.60 28.83
1967 -0.58 -194.6 441.3 -13.2 258 1976 0.00 2.22 0.00 0.000 6 0.000 0.047 2320 2633 3726 0 0 0 0 0 0 28.83 26.51 28.83
2275 -0.58 -194.6 490.8 -15.8 289 2278 0.00 1.70 0.00 0.000 4 0.000 0.057 2314 3766 3725 0 0 0 0 0 0 28.83 26.48 28.83
2306 -0.58 -194.6 495.9 -16.2 292 2310 0.08 1.70 0.00 0.000 6 0.182 0.024 2334 2493 3725 0 0 0 0 0 0 26.46 26.69 28.83
2618 -0.58 -194.6 535.6 -12.4 323 2619 0.08 0.00 0.00 0.000 6 0.129 0.000 2282 2483 3724 0 0 0 0 0 0 26.70 28.83 28.83
2918 -0.58 -194.6 591.5 -19.3 353 2927 0.12 1.95 0.00 0.000 4 0.164 0.054 2318 3767 3722 0 0 0 0 0 0 26.43 26.48 28.83
2994 -0.58 -194.6 601.8 -15.0 359 3000 0.00 1.70 0.00 0.000 6 0.000 0.024 2318 2502 3722 0 0 0 0 0 0 28.83 26.70 28.83
3300 -0.58 -194.6 645.3 -12.6 375 3306 0.00 1.92 0.00 0.000 4 0.000 0.028 2318 1141 3720 0 0 0 0 0 0 28.83 26.63 28.83
3333 -0.58 -194.6 647.8 -12.4 376 3340 0.00 2.25 0.00 0.000 6 0.000 0.048 2318 2627 3720 0 0 0 0 0 0 28.83 26.52 28.83
3641 -0.58 -194.6 686.6 -12.1 392 3646 0.00 2.10 0.00 0.000 4 0.000 0.027 2318 1148 3717 0 0 0 0 0 0 28.83 26.62 28.83
3682 -0.58 -194.6 691.2 -11.9 394 3686 0.00 2.28 0.00 0.000 6 0.000 0.048 2318 2620 3717 0 0 0 0 0 0 28.83 26.51 28.83
4001 -0.58 -194.6 728.1 -11.4 410 4006 0.00 2.10 0.00 0.000 4 0.000 0.027 2317 1142 3715 0 0 0 0 0 0 28.83 26.61 28.83
4042 -0.58 -194.6 732.3 -11.2 412 4046 0.00 2.30 0.00 0.000 6 0.000 0.049 2317 2627 3715 0 0 0 0 0 0 28.83 26.51 28.83
4360 -0.58 -194.6 768.9 -11.6 428 4363 0.00 1.73 0.00 0.000 4 0.000 0.060 2317 3764 3712 0 0 0 0 0 0 28.83 26.44 28.83
4389 -0.58 -194.6 771.5 -11.7 429 4393 0.00 1.70 0.00 0.000 6 0.000 0.024 2317 2513 3711 0 0 0 0 0 0 28.83 26.71 28.83
4702 -0.58 -194.6 808.3 -11.9 445 4704 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2502 3708 0 0 0 0 0 0 28.83 28.83 28.83
5001 -0.58 -194.6 846.4 -12.7 460 5006 0.00 1.92 0.00 0.000 4 0.000 0.059 2309 3763 3706 0 0 0 0 0 0 28.83 26.43 28.83
5049 -0.58 -194.6 851.9 -13.2 462 5054 0.05 1.73 0.00 0.000 6 0.131 0.025 2331 2522 3705 0 0 0 0 0 0 26.46 26.70 28.83
5361 -0.58 -194.6 888.1 -10.7 478 5362 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2518 3704 0 0 0 0 0 0 28.83 28.83 28.83
5661 -0.58 -194.6 920.9 -11.0 493 5662 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2518 3702 0 0 0 0 0 0 28.83 28.83 28.83
5962 -0.58 -194.6 953.3 -11.0 508 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2517 3699 0 0 0 0 0 0 28.83 28.83 28.83
6262 -0.58 -194.6 987.1 -10.9 523 6263 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2517 3698 0 0 0 0 0 0 28.83 28.83 28.83
6299 end dive: TARGET_DEPTH_EXCEEDED
state 6299 begin apogee
6304 -0.17 0.0 991.4 -10.7 525 6483 0.35 0.00 167.38 1.723 6 0.110 0.000 2458 2517 2928 0 0 0 0 0 0 26.33 28.83 23.58
6484 end apogee: CONTROL_FINISHED_OK
state 6484 begin climb
6486 0.58 194.6 1002.3 0.0 534 6684 0.68 2.40 187.40 1.687 4 0.050 0.034 2731 1058 2133 0 0 0 0 0 0 24.81 23.98 22.96
6733 0.58 194.6 980.6 18.1 546 6740 0.15 2.40 0.00 0.000 6 0.182 0.047 2694 2515 2128 0 0 0 0 0 0 24.60 24.77 28.83
7050 0.58 194.6 923.0 18.6 562 7051 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2515 2124 0 0 0 0 0 0 28.83 28.83 28.83
7349 0.58 194.6 867.4 18.1 577 7355 0.00 1.95 0.00 0.000 4 0.000 0.057 2694 3766 2122 0 0 0 0 0 0 28.83 26.00 28.83
7422 0.58 194.6 855.1 20.0 580 7429 0.05 1.92 0.00 0.000 6 0.262 0.027 2694 2452 2122 0 0 0 0 0 0 25.98 26.15 28.83
7730 0.58 194.6 803.6 14.5 596 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2448 2121 0 0 0 0 0 0 28.83 28.83 28.83
8030 0.58 194.6 761.0 13.6 611 8035 0.00 2.05 0.00 0.000 4 0.000 0.056 2694 3763 2120 0 0 0 0 0 0 28.83 26.22 28.83
8062 0.58 194.6 758.0 13.9 612 8069 0.00 1.90 0.00 0.000 6 0.000 0.025 2703 2445 2120 0 0 0 0 0 0 28.83 26.35 28.83
8369 0.58 194.6 710.2 14.4 628 8371 0.05 0.00 0.00 0.000 6 0.257 0.000 2693 2441 2119 0 0 0 0 0 0 26.39 28.83 28.83
8670 0.58 194.6 668.2 14.1 643 8676 0.00 2.03 0.00 0.000 4 0.000 0.032 2703 1048 2117 0 0 0 0 0 0 28.83 26.40 28.83
8742 0.58 194.6 660.9 12.7 646 8749 0.00 2.25 0.00 0.000 6 0.000 0.047 2703 2515 2116 0 0 0 0 0 0 28.83 26.33 28.83
9050 0.58 194.6 618.0 13.6 662 9052 0.05 0.00 0.00 0.000 6 0.244 0.000 2692 2515 2116 0 0 0 0 0 0 26.48 28.83 28.83
9349 0.58 194.6 577.8 12.8 685 9353 0.00 1.90 0.00 0.000 4 0.000 0.057 2693 3770 2116 0 0 0 0 0 0 28.83 26.34 28.83
9435 0.58 194.6 565.2 15.1 693 9439 0.00 1.90 0.00 0.000 6 0.000 0.024 2702 2441 2116 0 0 0 0 0 0 28.83 26.51 28.83
9742 0.58 194.6 522.7 14.0 723 9751 0.00 1.98 0.00 0.000 4 0.000 0.033 2713 1055 2115 0 0 0 0 0 0 28.83 26.47 28.83
9796 0.58 194.6 515.3 13.5 728 9804 0.05 2.25 0.00 0.000 6 0.161 0.045 2694 2515 2115 0 0 0 0 0 0 26.23 26.41 28.83
10103 0.58 194.6 476.3 12.5 759 10113 0.00 2.15 0.00 0.000 4 0.000 0.032 2705 1046 2115 0 0 0 0 0 0 28.83 26.48 28.83
10186 0.58 194.6 467.8 9.9 767 10191 0.05 2.22 0.00 0.000 6 0.223 0.044 2693 2520 2115 0 0 0 0 0 0 26.32 26.42 28.83
10498 0.58 194.6 434.1 11.6 798 10502 0.00 1.90 0.00 0.000 4 0.000 0.054 2693 3770 2115 0 0 0 0 0 0 28.83 26.39 28.83
10566 0.58 194.6 424.5 15.0 804 10574 0.00 1.92 0.00 0.000 6 0.000 0.024 2702 2431 2115 0 0 0 0 0 0 28.83 26.55 28.83
10876 0.58 194.6 385.6 12.6 835 10885 0.00 1.98 0.00 0.000 4 0.000 0.034 2713 1058 2115 0 0 0 0 0 0 28.83 26.51 28.83
10902 0.58 194.6 382.8 12.7 837 10910 0.10 2.20 0.00 0.000 6 0.181 0.043 2688 2520 2115 0 0 0 0 0 0 26.26 26.45 28.83
11208 0.58 194.6 350.3 10.3 868 11217 0.00 1.88 0.00 0.000 4 0.000 0.053 2687 3769 2116 0 0 0 0 0 0 28.83 26.41 28.83
11242 0.58 194.6 346.5 11.3 871 11251 0.00 1.90 0.00 0.000 6 0.000 0.025 2696 2428 2116 0 0 0 0 0 0 28.83 26.58 28.83
11551 0.58 194.6 312.9 11.1 902 11559 0.00 1.98 0.00 0.000 4 0.000 0.034 2706 1048 2116 0 0 0 0 0 0 28.83 26.53 28.83
11592 0.58 194.6 308.4 10.8 906 11601 0.08 2.22 0.00 0.000 6 0.185 0.042 2688 2520 2116 0 0 0 0 0 0 26.34 26.47 28.83
11902 0.58 194.6 274.9 10.9 937 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2521 2117 0 0 0 0 0 0 28.83 28.83 28.83
12205 0.60 212.0 247.2 8.6 967 12226 0.08 1.95 14.07 1.144 4 0.131 0.053 2739 3767 2064 0 0 0 0 0 0 26.67 26.25 25.33
12306 0.60 212.0 233.2 15.7 977 12315 0.15 1.90 0.00 0.000 6 0.176 0.026 2703 2450 2063 0 0 0 0 0 0 26.06 26.34 28.83
12615 0.60 212.0 203.9 9.6 1008 12624 0.00 2.03 0.00 0.000 4 0.000 0.034 2712 1055 2062 0 0 0 0 0 0 28.83 26.39 28.83
12721 0.61 219.2 194.0 8.9 1025 12734 0.00 2.22 8.00 1.044 6 0.000 0.041 2713 2529 2035 0 0 0 0 0 0 28.83 26.36 25.32
13041 0.66 261.7 164.3 7.8 1087 13085 0.05 0.00 38.62 1.125 6 0.180 0.000 2754 2529 1860 0 0 0 0 0 0 26.48 28.83 24.81
13391 0.66 261.7 122.4 12.7 1154 13398 0.12 2.20 0.00 0.000 4 0.164 0.031 2726 1053 1857 0 0 0 0 0 0 25.98 26.13 28.83
13427 0.71 300.3 119.0 7.9 1160 13453 0.08 2.22 16.95 0.974 6 0.126 0.041 2779 2519 1703 0 0 0 0 0 0 26.09 26.12 25.06
13759 0.71 300.3 63.9 15.7 1224 13767 0.15 1.90 0.00 0.000 4 0.161 0.049 2732 3771 1700 0 0 0 0 0 0 26.03 26.14 28.83
13809 0.71 300.3 56.8 13.2 1233 13816 0.00 1.90 0.00 0.000 6 0.000 0.027 2734 2451 1700 0 0 0 0 0 0 28.83 26.27 28.83
14120 0.71 300.3 25.6 10.3 1294 14126 0.00 2.03 0.00 0.000 4 0.000 0.034 2735 1057 1699 0 0 0 0 0 0 28.83 26.36 28.83
14168 0.71 300.3 20.5 11.6 1303 14176 0.00 2.20 0.00 0.000 6 0.000 0.041 2735 2520 1697 0 0 0 0 0 0 28.83 26.34 28.83
14323 end climb: SURFACE_DEPTH_REACHED
state 14323 begin surface coast
14350 end surface coast: CONTROL_FINISHED_OK
state 14350 begin surface